Consider a process with transfer function: \[ G_p = \frac{2e^{-s}}{(5s + 1)^2} \] A first-order plus dead time (FOPDT) model is to be fitted to the unit step process reaction curve (PRC) by applying the maximum slope method. Let \( \tau_m \) and \( \theta_m \) denote the time constant and dead time, respectively, of the fitted FOPDT model. The value of \( \frac{\tau_m}{\theta_m} \) is __________ (rounded off to 2 decimal places).
Given: For \( G = \frac{1}{(\tau s + 1)^2} \), the unit step output response is: \[ y(t) = 1 - \left(1 + \frac{t}{\tau}\right)e^{-t/\tau} \] The first and second derivatives of \( y(t) \) are: \[ \frac{dy(t)}{dt} = \frac{t}{\tau^2} e^{-t/\tau} \] \[ \frac{d^2y(t)}{dt^2} = \frac{1}{\tau^2} \left(1 - \frac{t}{\tau}\right) e^{-t/\tau} \]
A closed-loop system has the characteristic equation given by: $ s^3 + k s^2 + (k+2) s + 3 = 0 $.
For the system to be stable, the value of $ k $ is: